diff --git a/components/esptool_py/project_include.cmake b/components/esptool_py/project_include.cmake
index aee2275802..9f051b2359 100644
--- a/components/esptool_py/project_include.cmake
+++ b/components/esptool_py/project_include.cmake
@@ -12,7 +12,6 @@ set(ESPTOOLPY ${python} "$ENV{ESPTOOL_WRAPPER}" "${CMAKE_CURRENT_LIST_DIR}/espto
 set(ESPSECUREPY ${python} "${CMAKE_CURRENT_LIST_DIR}/esptool/espsecure.py")
 set(ESPEFUSEPY ${python} "${CMAKE_CURRENT_LIST_DIR}/esptool/espefuse.py")
 set(ESPMONITOR ${python} -m esp_idf_monitor)
-set(ESPMKUF2 ${python} "${idf_path}/tools/mkuf2.py" write --chip ${chip_model})
 set(ESPTOOLPY_CHIP "${chip_model}")
 
 if(NOT CONFIG_APP_BUILD_TYPE_RAM AND CONFIG_APP_BUILD_GENERATE_BINARIES)
@@ -197,30 +196,6 @@ add_custom_target(erase_flash
     VERBATIM
     )
 
-set(UF2_ARGS --json "${CMAKE_CURRENT_BINARY_DIR}/flasher_args.json")
-
-add_custom_target(uf2
-    COMMAND ${CMAKE_COMMAND}
-    -D "IDF_PATH=${idf_path}"
-    -D "SERIAL_TOOL=${ESPMKUF2}"
-    -D "SERIAL_TOOL_ARGS=${UF2_ARGS};-o;${CMAKE_CURRENT_BINARY_DIR}/uf2.bin"
-    -P run_serial_tool.cmake
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
-    USES_TERMINAL
-    VERBATIM
-    )
-
-add_custom_target(uf2-app
-    COMMAND ${CMAKE_COMMAND}
-    -D "IDF_PATH=${idf_path}"
-    -D "SERIAL_TOOL=${ESPMKUF2}"
-    -D "SERIAL_TOOL_ARGS=${UF2_ARGS};-o;${CMAKE_CURRENT_BINARY_DIR}/uf2-app.bin;--bin;app"
-    -P run_serial_tool.cmake
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
-    USES_TERMINAL
-    VERBATIM
-    )
-
 set(MERGE_BIN_ARGS merge_bin)
 if(DEFINED ENV{ESP_MERGE_BIN_OUTPUT})
     list(APPEND MERGE_BIN_ARGS "-o" "$ENV{ESP_MERGE_BIN_OUTPUT}")
diff --git a/tools/cmake/project.cmake b/tools/cmake/project.cmake
index b59423bb36..7527f19bd7 100644
--- a/tools/cmake/project.cmake
+++ b/tools/cmake/project.cmake
@@ -884,6 +884,33 @@ macro(project project_name)
     # Add DFU build and flash targets
     __add_dfu_targets()
 
+    # Add uf2 related targets
+    idf_build_get_property(idf_path IDF_PATH)
+    idf_build_get_property(python PYTHON)
+
+    set(UF2_ARGS --json "${CMAKE_CURRENT_BINARY_DIR}/flasher_args.json")
+    set(UF2_CMD ${python} "${idf_path}/tools/mkuf2.py" write --chip ${chip_model})
+
+    add_custom_target(uf2
+        COMMAND ${CMAKE_COMMAND}
+        -D "IDF_PATH=${idf_path}"
+        -D "UF2_CMD=${UF2_CMD}"
+        -D "UF2_ARGS=${UF2_ARGS};-o;${CMAKE_CURRENT_BINARY_DIR}/uf2.bin"
+        -P "${idf_path}/tools/cmake/run_uf2_cmds.cmake"
+        USES_TERMINAL
+        VERBATIM
+        )
+
+    add_custom_target(uf2-app
+        COMMAND ${CMAKE_COMMAND}
+        -D "IDF_PATH=${idf_path}"
+        -D "UF2_CMD=${UF2_CMD}"
+        -D "UF2_ARGS=${UF2_ARGS};-o;${CMAKE_CURRENT_BINARY_DIR}/uf2-app.bin;--bin;app"
+        -P "${idf_path}/tools/cmake/run_uf2_cmds.cmake"
+        USES_TERMINAL
+        VERBATIM
+        )
+
     idf_build_executable(${project_elf})
 
     __project_info("${test_components}")
diff --git a/tools/cmake/run_uf2_cmds.cmake b/tools/cmake/run_uf2_cmds.cmake
new file mode 100644
index 0000000000..1ed4d5c0fc
--- /dev/null
+++ b/tools/cmake/run_uf2_cmds.cmake
@@ -0,0 +1,27 @@
+# A CMake script to run dfu-util from within ninja or make
+# or another cmake-based build runner
+#
+# It is recommended to NOT USE this CMake script directly
+
+cmake_minimum_required(VERSION 3.16)
+
+set(UF2_CMD "${UF2_CMD}")
+set(UF2_ARGS "${UF2_ARGS}")
+
+if(NOT UF2_CMD)
+    message(FATAL_ERROR "UF2_CMD must be specified on the CMake command line.")
+endif()
+
+if(NOT UF2_ARGS)
+    message(FATAL_ERROR "UF2_ARGS must be specified on the CMake command line.")
+endif()
+
+set(uf2_cmd_with_args ${UF2_CMD})
+list(APPEND uf2_cmd_with_args ${UF2_ARGS})
+
+execute_process(COMMAND ${uf2_cmd_with_args}
+    RESULT_VARIABLE result)
+
+if(${result})
+    message(FATAL_ERROR "${UF2_CMD} failed")
+endif()
diff --git a/tools/test_idf_py/test_idf_py.py b/tools/test_idf_py/test_idf_py.py
index 9ccdfe0924..9daac230c3 100755
--- a/tools/test_idf_py/test_idf_py.py
+++ b/tools/test_idf_py/test_idf_py.py
@@ -549,5 +549,38 @@ class TestMergeBinCommands(TestWrapperCommands):
         self.assertIn(f'Merged binary {merged_binary_name} will be created in the build directory...', output)
 
 
+class TestUF2Commands(TestWrapperCommands):
+    """
+    Test if uf2 commands are invoked as expected.
+    This test is not testing the functionality of mkuf2.py/idf.py uf2, but the invocation of the command from idf.py.
+    """
+
+    def test_uf2(self):
+        uf2_command = [sys.executable, idf_py_path, 'uf2']
+        output = self.call_command(uf2_command)
+        self.assertIn('Executing:', output)
+
+    def test_uf2_with_envvars(self):
+        # Values do not really matter, they should not be used.
+        os.environ['ESPBAUD'] = '115200'
+        os.environ['ESPPORT'] = '/dev/ttyUSB0'
+        self.test_uf2()
+        os.environ.pop('ESPBAUD')
+        os.environ.pop('ESPPORT')
+
+    def test_uf2_app(self):
+        uf2_app_command = [sys.executable, idf_py_path, 'uf2-app']
+        output = self.call_command(uf2_app_command)
+        self.assertIn('Executing:', output)
+
+    def test_uf2_app_with_envvars(self):
+        # Values do not really matter, they should not be used.
+        os.environ['ESPBAUD'] = '115200'
+        os.environ['ESPPORT'] = '/dev/ttyUSB0'
+        self.test_uf2_app()
+        os.environ.pop('ESPBAUD')
+        os.environ.pop('ESPPORT')
+
+
 if __name__ == '__main__':
     main()